Description

Base class for terrain nodes that use one of the Chrono terrain formulations.

#include <ChVehicleCosimTerrainNodeChrono.h>

Inheritance diagram for chrono::vehicle::ChVehicleCosimTerrainNodeChrono:

[legend]

Collaboration diagram for chrono::vehicle::ChVehicleCosimTerrainNodeChrono:

[legend]

Classes
struct	ProxyBody
	Association between a proxy body and a mesh index. More...

struct	RigidObstacle
	Specification of a rigid obstacle. More...

Public Types
enum	Type { Type::RIGID, Type::SCM, Type::GRANULAR_OMP, Type::GRANULAR_GPU, Type::GRANULAR_MPI, Type::GRANULAR_SPH, Type::UNKNOWN }
	Type of Chrono terrain. More...

Public Types inherited from chrono::vehicle::ChVehicleCosimBaseNode
enum	NodeType { NodeType::MBS, NodeType::TERRAIN, NodeType::TIRE }
	Type of node participating in co-simulation. More...

enum	InterfaceType { InterfaceType::BODY, InterfaceType::MESH }
	Type of the tire-terrain communication interface. More...

Public Member Functions
Type	GetType () const
	Return the type of this terrain node.

void	SetProxyFixed (bool fixed)
	Set the proxy bodies as fixed to ground.

virtual double	GetInitHeight () const override final
	Return the terrain initial height.

void	AddRigidObstacle (const RigidObstacle &obstacle)
	Add a rigid obstacle.

Public Member Functions inherited from chrono::vehicle::ChVehicleCosimTerrainNode
virtual NodeType	GetNodeType () const override
	Return the node type as NodeType::TERRAIN.

void	EnableRuntimeVisualization (bool render, double render_fps=100)
	Enable/disable run-time visualization (default: false). More...

void	SetDimensions (double length, double width)
	Set the terrain patch dimensions. More...

virtual void	Initialize () override final
	Initialize this node. More...

virtual void	Synchronize (int step_number, double time) override final
	Synchronize this node. More...

virtual void	Advance (double step_size) override final
	Advance simulation. More...

virtual void	OutputData (int frame) override final
	Output logging and debugging data.

virtual void	OutputVisualizationData (int frame) override
	Output post-processing visualization data. More...

virtual int	GetNumContacts () const
	Return current number of contacts. More...

Public Member Functions inherited from chrono::vehicle::ChVehicleCosimBaseNode
std::string	GetNodeTypeString () const
	Return the node type as a string.

bool	IsCosimNode () const
	Return true if this node is part of the co-simulation infrastructure.

void	SetStepSize (double step)
	Set the integration step size (default: 1e-4).

double	GetStepSize () const
	Get the integration step size.

void	SetOutDir (const std::string &dir_name, const std::string &suffix)
	Set the name of the output directory and an identifying suffix. More...

void	SetVerbose (bool verbose)
	Enable/disable verbose messages during simulation (default: true).

const std::string &	GetOutDirName () const
	Get the output directory name for this node.

double	GetStepExecutionTime () const
	Get the simulation execution time for the current step on this node. More...

double	GetTotalExecutionTime () const
	Get the cumulative simulation execution time on this node.

virtual void	WriteCheckpoint (const std::string &filename) const
	Write checkpoint to the specified file (which will be created in the output directory).

Static Public Member Functions
static std::string	GetTypeAsString (Type type)
	Return a string describing the type of this terrain node.

static Type	GetTypeFromString (const std::string &type)
	Infer the terrain node type from the given string.

static bool	ReadSpecfile (const std::string &specfile, rapidjson::Document &d)
	Read a JSON specification file for a Chrono terrain node.

static Type	GetTypeFromSpecfile (const std::string &specfile)
	Get the terrain type from the given JSON specification file.

static ChVector2	GetSizeFromSpecfile (const std::string &specfile)
	Get the terrain dimensions (length and width) from the given JSON specification file.

Static Public Member Functions inherited from chrono::vehicle::ChVehicleCosimBaseNode
static std::string	OutputFilename (const std::string &dir, const std::string &root, const std::string &ext, int frame, int frame_digits)
	Utility function for creating an output file name. More...

Protected Types
typedef std::vector< ProxyBody >	Proxies

Protected Member Functions
	ChVehicleCosimTerrainNodeChrono (Type type, double length, double width, ChContactMethod method)
	Construct a base class terrain node. More...

virtual void	OnInitialize (unsigned int num_tires) override
	Initialize this Chrono terrain node. More...

virtual void	OnAdvance (double step_size) override
	Advance simulation. More...

virtual ChSystem *	GetSystem ()=0
	Return a pointer to the underlying Chrono system.

virtual void	Construct ()=0
	Construct the terrain (independent of the vehicle system).

virtual void	CreateWheelProxy (unsigned int i)=0
	Create proxy body for the i-th tire. More...

virtual void	CreateMeshProxies (unsigned int i)
	Create proxy bodies for the i-th tire mesh. More...

Protected Member Functions inherited from chrono::vehicle::ChVehicleCosimTerrainNode
	ChVehicleCosimTerrainNode (double length, double width)
	Construct a terrain node to wrap a terrain patch of given length and width.

virtual bool	SupportsMeshInterface () const =0
	Specify whether or not the terrain node supports the MESH communication interface. More...

virtual void	OnSynchronize (int step_number, double time)
	Perform any additional operations after the data exchange and synchronization with the MBS node. More...

virtual void	OnOutputData (int frame)
	Perform additional output at the specified frame (called from within OutputData).

virtual void	Render (double time)
	Render simulation. More...

virtual void	UpdateMeshProxies (unsigned int i, MeshState &mesh_state)
	Update the state of all proxy bodies for the i-th tire mesh. More...

virtual void	GetForcesMeshProxies (unsigned int i, MeshContact &mesh_contact)
	Collect cumulative contact forces on all proxy bodies for the i-th tire mesh. More...

virtual void	UpdateWheelProxy (unsigned int i, BodyState &spindle_state)=0
	Update the state of the wheel proxy body for the i-th tire. More...

virtual void	GetForceWheelProxy (unsigned int i, TerrainForce &wheel_contact)=0
	Collect cumulative contact force and torque on the wheel proxy body for the i-th tire. More...

Protected Member Functions inherited from chrono::vehicle::ChVehicleCosimBaseNode
	ChVehicleCosimBaseNode (const std::string &name)

Protected Attributes
Type	m_type
	terrain type

ChContactMethod	m_method
	contact method (SMC or NSC)

std::shared_ptr< ChMaterialSurface >	m_material_terrain
	material properties for terrain bodies

double	m_init_height
	terrain initial height

std::vector< Proxies >	m_proxies
	proxy bodies for each tire

bool	m_fixed_proxies
	are proxy bodies fixed to ground?

std::vector< RigidObstacle >	m_obstacles
	list of rigid obstacles

Protected Attributes inherited from chrono::vehicle::ChVehicleCosimTerrainNode
bool	m_render
	if true, perform run-time rendering

double	m_render_step
	time step between rendered frames

double	m_hdimX
	patch half-length (X direction)

double	m_hdimY
	patch half-width (Y direction)

InterfaceType	m_interface_type
	type of communication interface

std::vector< double >	m_tire_radius
	tire radius

std::vector< double >	m_tire_width
	tire width

std::vector< double >	m_load_mass
	vertical load on tire

std::vector< MaterialInfo >	m_mat_props
	tire contact material properties

std::vector< MeshData >	m_mesh_data
	tire mesh data

std::vector< MeshState >	m_mesh_state
	tire mesh state (used for MESH communication)

std::vector< BodyState >	m_spindle_state
	spindle state (used for BODY communication interface)

Protected Attributes inherited from chrono::vehicle::ChVehicleCosimBaseNode
int	m_rank
	MPI rank of this node (in MPI_COMM_WORLD)

double	m_step_size
	integration step size

std::string	m_name
	name of the node

std::string	m_out_dir
	top-level output directory

std::string	m_node_out_dir
	node-specific output directory

std::ofstream	m_outf
	output file stream

unsigned int	m_num_mbs_nodes

unsigned int	m_num_terrain_nodes

unsigned int	m_num_tire_nodes

ChTimer< double >	m_timer
	timer for integration cost

double	m_cum_sim_time
	cumulative integration cost

bool	m_verbose
	verbose messages during simulation?

Additional Inherited Members
Static Protected Attributes inherited from chrono::vehicle::ChVehicleCosimBaseNode
static const double	m_gacc = -9.81

Member Enumeration Documentation

◆ Type

enum chrono::vehicle::ChVehicleCosimTerrainNodeChrono::Type

strong

Type of Chrono terrain.

Enumerator
RIGID	rigid terrain
SCM	Soil Contact Model.
GRANULAR_OMP	granular terrain (Chrono::Multicore)
GRANULAR_GPU	granular terrain (Chrono::Gpu)
GRANULAR_MPI	granular terrain (Chrono::Distributed)
GRANULAR_SPH	continuous representation of granular terrain (Chrono::FSI)
UNKNOWN	unknown terrain type

Constructor & Destructor Documentation

◆ ChVehicleCosimTerrainNodeChrono()

chrono::vehicle::ChVehicleCosimTerrainNodeChrono::ChVehicleCosimTerrainNodeChrono	(	Type	type,
		double	length,
		double	width,
		ChContactMethod	method
	)

protected

Construct a base class terrain node.

Parameters

type	terrain type
length	terrain patch length
width	terain patch width
method	contact method (SMC or NSC)

Member Function Documentation

◆ CreateMeshProxies()

virtual void chrono::vehicle::ChVehicleCosimTerrainNodeChrono::CreateMeshProxies ( unsigned int i )

inlineprotectedvirtual

Create proxy bodies for the i-th tire mesh.

Use information in the m_mesh_data struct (vertex positions expressed in local frame).

◆ CreateWheelProxy()

virtual void chrono::vehicle::ChVehicleCosimTerrainNodeChrono::CreateWheelProxy ( unsigned int i )

protectedpure virtual

Create proxy body for the i-th tire.

Use information in the m_mesh_data struct (vertex positions expressed in local frame).

◆ OnAdvance()

void chrono::vehicle::ChVehicleCosimTerrainNodeChrono::OnAdvance ( double step_size )

overrideprotectedvirtual

Advance simulation.

This function is called after a synchronization to allow the node to advance its state by the specified time step. A node is allowed to take as many internal integration steps as required, but no inter-node communication should occur.

Implements chrono::vehicle::ChVehicleCosimTerrainNode.

◆ OnInitialize()

void chrono::vehicle::ChVehicleCosimTerrainNodeChrono::OnInitialize ( unsigned int num_tires )

overrideprotectedvirtual

Initialize this Chrono terrain node.

Construct the terrain system and the proxy bodies.

Implements chrono::vehicle::ChVehicleCosimTerrainNode.

Reimplemented in chrono::vehicle::ChVehicleCosimTerrainNodeGranularSPH.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeChrono.h
/builds/uwsbel/chrono/src/chrono_vehicle/cosim/terrain/ChVehicleCosimTerrainNodeChrono.cpp

Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members